Robust finite-time control of nonholonomic systems with strong nonlinear drifts

摘要

Nonholonomic systems, i.e., systems with nonholonomic or nonintegrable constraints, are quite often encountered in real world, such as mobile robots, car-like vehicle, under-actuated satellites and the knife-edge etc. Therefore, the control and stabilization of nonholonomic systems has been an active research area in recent years. Different from the most of the existing works, which only consider the asymptotic feedback stabilizer that makes the trajectories of the system converge asymptotically to the equilibrium as the time goes to infinity. In this paper, we focus on the finite-time control problem of nonholonomic systems in chained form with strong nonlinear drifts. By using input-state-scaling and adding a power integrator techniques, a recursive controller design procedure is developed. Based on switching strategy to overcome the uncontrollability problem associated withx0(0) = 0, the uncertain closed-loop system is regulated to zero in a finite time. Two illustrative examples are provided to demonstrate the effectiveness of the proposed controller.